import rclpy
from rclpy.node import Node
import rclpy.time
from tf2_ros import TransformListener, Buffer #坐标监听器
from tf_transformations import euler_from_quaternion # 四元角转欧拉函数
import math

class TFBroadcaster(Node):
    def __init__(self):
        super().__init__('tf_broadcaster')
        self.buffer = Buffer()
        self.listener = TransformListener(self.buffer,self)
        self.timer = self.create_timer(1.0,self.get_transform)
        
    def get_transform(self):
        try:
            result = self.buffer.lookup_transform('map', 'base_footprint', 
                    rclpy.time.Time(seconds=0.0),rclpy.time.Duration(seconds=1.0))
            transform = result.transform
            self.get_logger().info(f'平移{transform.translation}')
            self.get_logger().info(f'旋转{transform.rotation}')
            roration_euler = euler_from_quaternion([
                transform.rotation.x,
                transform.rotation.y,
                transform.rotation.z,
                transform.rotation.w
            ])
            self.get_logger().info(f'旋转RPY{roration_euler}')
        except Exception as e:
            self.get_logger().warn(f'获取坐标变换失败:原因{str(e)}')
            
def main():
    rclpy.init()
    node = TFBroadcaster()
    rclpy.spin(node)
    rclpy.shutdown()